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<h1>/home/wouter/ros_packages/thp-pj2-08/par_kinematics/include/par_kinematics/deltaarm.h</h1>  </div>
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<a href="deltaarm_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 
<a name="l00007"></a>00007 <span class="preprocessor">#include &lt;ros/ros.h&gt;</span>
<a name="l00008"></a>00008 <span class="preprocessor">#include &lt;iostream&gt;</span>
<a name="l00009"></a>00009 <span class="preprocessor">#include &lt;cmath&gt;</span>
<a name="l00010"></a>00010 <span class="preprocessor">#include &lt;<a class="code" href="armmodel_8h.html">par_kinematics/armmodel.h</a>&gt;</span>
<a name="l00011"></a>00011 <span class="preprocessor">#include &lt;<a class="code" href="point_8h.html">par_kinematics/point.h</a>&gt;</span>
<a name="l00012"></a>00012 
<a name="l00013"></a><a class="code" href="classDeltaArm.html#ac7694cfcc62c01d75037940120223898">00013</a> <span class="preprocessor">#ifndef _DELTAARM_H_</span>
<a name="l00014"></a>00014 <span class="preprocessor"></span><span class="preprocessor">#define _DELTAARM_H_</span>
<a name="l00015"></a><a class="code" href="classDeltaArm.html#a53843fd26ab67f30ed174ed0eb611004">00015</a> <span class="preprocessor"></span>
<a name="l00016"></a><a class="code" href="classDeltaArm.html#a74cf216a889dfadddaa993b4f93eead9">00016</a> <span class="keyword">class </span><a class="code" href="classDeltaArm.html">DeltaArm</a> {
<a name="l00017"></a><a class="code" href="classDeltaArm.html#a4d04364bc245e183f8ac4b97e4901450">00017</a>         <span class="keyword">public</span>:
<a name="l00018"></a>00018                 <a class="code" href="classArmModel.html">ArmModel</a>* <a class="code" href="classDeltaArm.html#ac7694cfcc62c01d75037940120223898">m</a>;
<a name="l00019"></a><a class="code" href="classDeltaArm.html#a9274eb9ec7d5ce8a13218e2189b0956d">00019</a>   
<a name="l00020"></a>00020                 <span class="keywordtype">double</span> <a class="code" href="classDeltaArm.html#a53843fd26ab67f30ed174ed0eb611004">awidth</a>;  <span class="comment">// ankle parallelogram width</span>
<a name="l00021"></a>00021                 <span class="keywordtype">double</span> <a class="code" href="classDeltaArm.html#a74cf216a889dfadddaa993b4f93eead9">goodRho</a>; <span class="comment">// last known possible angle</span>
<a name="l00022"></a>00022                 <span class="keywordtype">double</span> <a class="code" href="classDeltaArm.html#a4d04364bc245e183f8ac4b97e4901450">servo</a>;   <span class="comment">// servo disk size</span>
<a name="l00023"></a>00023   
<a name="l00024"></a>00024                 <a class="code" href="classDeltaArm.html#a9274eb9ec7d5ce8a13218e2189b0956d">DeltaArm</a>(<a class="code" href="classArmModel.html">ArmModel</a>* <a class="code" href="classDeltaArm.html#ac7694cfcc62c01d75037940120223898">m</a>) {
<a name="l00025"></a><a class="code" href="classDeltaArm.html#acaa7965f14ccf573fe53a824c5b7adf4">00025</a>                 this-&gt;m = m;
<a name="l00026"></a>00026                 this-&gt;<a class="code" href="classDeltaArm.html#a53843fd26ab67f30ed174ed0eb611004">awidth</a> = 40;
<a name="l00027"></a>00027                 this-&gt;<a class="code" href="classDeltaArm.html#a4d04364bc245e183f8ac4b97e4901450">servo</a> = 15;
<a name="l00028"></a>00028                 }
<a name="l00029"></a><a class="code" href="classDeltaArm.html#a549fd93312a310c3cbfb473d83925e55">00029</a>   
<a name="l00030"></a>00030                 <span class="keywordtype">void</span> <a class="code" href="classDeltaArm.html#acaa7965f14ccf573fe53a824c5b7adf4">setAnkleWidth</a>(<span class="keywordtype">double</span> <a class="code" href="classDeltaArm.html#a53843fd26ab67f30ed174ed0eb611004">awidth</a>) {
<a name="l00031"></a>00031                         this-&gt;awidth = awidth;
<a name="l00032"></a>00032                 }
<a name="l00033"></a>00033   
<a name="l00034"></a>00034                 <span class="keywordtype">double</span> <a class="code" href="classDeltaArm.html#a549fd93312a310c3cbfb473d83925e55">ankleWidth</a>() { <span class="keywordflow">return</span> this-&gt;<a class="code" href="classDeltaArm.html#a53843fd26ab67f30ed174ed0eb611004">awidth</a>; }
<a name="l00035"></a>00035 
<a name="l00036"></a>00036 };
<a name="l00037"></a>00037 
<a name="l00038"></a>00038 <span class="preprocessor">#endif</span>
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<a href="http://ros.org/wiki/par_kinematics">par_kinematics</a><br />
Author(s): Wouter van Teijlingen</br />
<small>autogenerated on Mon Jun 13 2011 17:06:55</small>
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